Application: kinect-3d-slam

1. Description

This is a very simple program written in 2 hours just to illustrate the capabilities of Xbox Kinect to perform Visual SLAM with the MRPT libraries. It is not supposed to be used for even medium-sized maps.

– Point to some static, near object.
– Press ‘r’ to reset the map.
– Start moving the Kinect slowly. Take care that at least 3-5 features exist at all time.

Working principle: The program creates a “key-frame” for each 10cm or 10deg the camera moves, then establish the 6D relative pose of the camera to the set of tracked features at the last “key-frame”.

Source code:…

2. Video

  • Ankit


    I am student and in my final year project I have to do same work.
    Kinect is given to me and one robot is there name Dr Robot Jaguar.
    but in first step i have to recognize object to the kinect then measure the distance and then create map.
    I have no idea about programming language.
    If possible then please guide me that how can i develop simple slam algorithm for kinect.
    how should i start my work, from last 1 months i am referring only documents.

    Thank you very much.

    with Regards,

    • hossein mokhtari

      i have the same problem.(project)
      please help me if you find a hint.


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